DocumentCode :
2318313
Title :
Simultaneous Localization and Mapping with Stereo Vision
Author :
Dailey, Matthew N. ; Parnichkun, Manukid
Author_Institution :
Comput. Sci. & Inf. Manage., Asian Inst. of Technol., Pathumthani
fYear :
2006
fDate :
5-8 Dec. 2006
Firstpage :
1
Lastpage :
6
Abstract :
In the simultaneous localization and mapping (SLAM) problem, a mobile robot must build a map of its environment while simultaneously determining its location within that map. We propose a new algorithm, for visual SLAM (VSLAM), in which the robot´s only sensory information is video imagery. Our approach combines stereo vision with a popular sequential Monte Carlo (SMC) algorithm, the Rao-Blackwellised particle filter, to simultaneously explore multiple hypotheses about the robot´s six degree-of-freedom trajectory through space and maintain a distinct stochastic map for each of those candidate trajectories. We demonstrate the algorithm´s effectiveness in mapping a large outdoor virtual reality environment in the presence of odometry error
Keywords :
Monte Carlo methods; SLAM (robots); particle filtering (numerical methods); position control; robot vision; stereo image processing; video signal processing; virtual reality; Rao-Blackwellised particle filter; candidate trajectory; degree-of-freedom trajectory; mobile robot; odometry error; sensory information; sequential Monte Carlo algorithm; simultaneous localization and mapping; stereo vision; video imagery; virtual reality environment; visual SLAM; Mobile robots; Monte Carlo methods; Orbital robotics; Particle filters; Robot sensing systems; Robot vision systems; Simultaneous localization and mapping; Sliding mode control; Stereo vision; Trajectory; Localization; Rao-Blackwellised particle filter; mapping; stereo vision; visual landmarks;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control, Automation, Robotics and Vision, 2006. ICARCV '06. 9th International Conference on
Conference_Location :
Singapore
Print_ISBN :
1-4244-0341-3
Electronic_ISBN :
1-4214-042-1
Type :
conf
DOI :
10.1109/ICARCV.2006.345269
Filename :
4150147
Link To Document :
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